weeder

Abstract

To provide a weeding machine that can perform weeding work while properly moving forward in a farm field and solve such a problem with an autonomous travelling paddy weeding machine that weeds a paddy field while autonomously travelling the paddy field and an existing autonomous travelling paddy weeding machine includes: a rotary brush performing weeding work, installed to a through-hole part bored in a machine body center, and functions as a propulsion body that weeding work by the rotary brush scoops up muddy water and deposits the muddy water on a machine body and which causes troubles in operation of each member, and the rotary brush deteriorates the function as the propulsion body when the weeding work adds a load on the rotary brush.SOLUTION: A weeding machine includes: a control unit 4 and motors 12, 14 installed inside a case-shaped body 6; a propulsion device 7 driven by the motor 12 and installed to a bottom surface of the body 6; and a weeding work part 8 driven by the motor 14 and installed on an outside the body 6.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a weeder that self-propels in a field to remove weeds. [Background technology]

[0002] BACKGROUND ART Conventionally, there is an autonomous paddy field weeder that autonomously travels in paddy fields to weed (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-152775 Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional autonomous paddy field weeders, the rotating brush that performs the weeding work is installed in a through-hole in the center of the machine body, which also functions as a propulsion body.

[0005] However, when the rotating brush was used for weeding, muddy water was stirred up and accumulated on the machine body, hindering the operation of each component, and when the load was applied during weeding, its function as a propellant was reduced, making it impossible to carry out proper weeding work.

[0006] The present invention has been made in view of the above, and has an object to provide a weeder that can be propelled appropriately in a field to perform weeding work. [Means for solving the problem]

[0007] The first invention is a boat-shaped weeder that floats on water, characterized in that a control unit (4) and motors (12, 14) are provided inside a case-like main body (6), a screw (7) that is rotatably supported in a hollow section provided in the center of the bottom surface of the main body (6) and is driven by the motor (12), and weeding units (8) are provided on both the left and right outside of the main body (6) at the tips of left and right transmission cases (15, 15) and have paddle tires (16, 16) driven by the motor (14) that rotatably plow and stir the field. The second invention is the weeder of the first invention, characterized in that the propulsion device (7) is driven by a main motor (12) via a main reduction gear case (11), and the weeding unit (8) is driven by a sub motor (14) via a sub reduction gear case (13). The third aspect of the present invention is the weeder according to the first or second aspect of the present invention, characterized in that the battery (9) is detachably provided in a battery receiving portion provided in the main body (6). The fourth aspect of the present invention is the weeder according to the third aspect of the present invention, characterized in that the main body (6) is provided with a pilot lamp (10) for indicating the remaining charge of the battery (9). First invention related to the present inventionis a weeder having a control unit 4 and motors 12 and 14 inside a case-shaped main body 6, a propulsion device 7 driven by the motor 12 on the bottom of the main body 6, and a weeding unit 8 driven by the motor 14 on the outside of the main body 6.

[0008] First invention related to the present invention According to the invention, a control unit 4 and motors 12, 14 are provided inside a case-shaped main body 6, a propulsion device 7 driven by the motor 12 is provided on the bottom of the main body 6, and a weeding unit 8 driven by the motor 14 is provided on the outside of the main body 6, so that the control unit 4 and motors 12, 14 are prevented from being splashed with muddy water scooped up by the propulsion device 7 and weeding unit 8, allowing them to operate properly, and the machine is propelled by the propulsion device 7 and weeds are removed by the weeding unit 8, allowing proper weeding work to be carried out.

[0009] Second invention related to the present invention The main motor 12 drives the propulsion device 7 via a main reduction gear case 11, and the sub motor 14 drives the weeding unit 8 via a sub reduction gear case 13. First invention related to the present invention It is a weeder.

[0010] Third invention related to the present invention The battery 9 is detachably mounted in a battery receiving portion provided on the main body 6. The first or second invention related to the present invention It is a weeder.

[0011] The fourth invention related to the present invention The main body 6 is provided with a pilot lamp 10 that displays the remaining capacity of the battery 9. Third invention related to the present invention It is a weeder. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 2 is a perspective view for explaining the operation of the weeder according to the embodiment of the present invention. [Figure 2] FIG. 2 is a perspective view for explaining the operation of the same weeder. [Figure 3] FIG. [Figure 4] FIG. 2 is a perspective view for explaining the operation of the mobile terminal of the same weeder. [Figure 5]FIG. 10 is a perspective view for explaining the operation of a growth promotion and pest control system according to another embodiment of the present invention. [Figure 6] FIG. 2 is a plan view for explaining the operation of the growth promotion and pest control system. [Figure 7] FIG. 2 is a side view illustrating the growth promoting and pest controlling effect of the same. [Figure 8] FIG. 2 is a perspective view for explaining the operation of the growth promotion and pest control system. DETAILED DESCRIPTION OF THE INVENTION

[0013] <Weed control system> As shown in FIGS. 1 and 4, the weeding management system is a system that registers a field F owned by a user in a map database of a mobile terminal 1 such as a tablet, and manages weeding work by a weeder 2.

[0014] The weeding management system consists of a mobile terminal 1 such as a tablet equipped with a control unit and a wireless communication device, which includes a map database in which the user's field F is registered and various databases such as a planting and weeding database, and an autonomous weeder 2 equipped with a GPS 3, a control unit 4, and a wireless communication device 5.

[0015] The mobile terminal 1 is capable of communicating with the riding rice transplanter and weeder 2 via a wireless communication device.

[0016] The mobile terminal 1 calculates the route that an autonomous riding rice transplanter will take to plant rice in a field F owned by a user registered in the map database, adds the route to the map database, and transmits the map data with the route added to the autonomous riding rice transplanter.

[0017] The autonomous riding rice transplanter stores the map data with the route sent from the mobile terminal 1 in the control unit, receives signals from positioning satellites using GPS in the field, calculates position information using the satellite positioning system, and autonomously drives along the route to automatically perform rice planting work.

[0018] The mobile terminal 1 adds the rows of seedlings planted by the riding rice transplanter along the route to the map database as planting data.

[0019] Then, the mobile terminal 1 transmits to the autonomous traveling weeder 2 map data in which the route R along which the weeder 2 travels has been added to the map database to which the planting data has been loaded.

[0020] The autonomously traveling weeder 2 stores the map data with the route R sent from the mobile terminal 1 in the control unit 4, receives signals from positioning satellites using the GPS 3 in the field, calculates position information using the satellite positioning system, and travels autonomously along the route R back and forth at the time specified by the operator using the mobile terminal 1 to perform weeding work.

[0021] <Weeding machine> 1 to 3 are a perspective view, a see-through perspective view, and a side view showing an autonomously traveling weeder 2. FIG.

[0022] The autonomous weeder 2 is composed of a main body 6 made of resin in the shape of a sealed, boat-shaped case that floats on water, a screw 7 as a forward propulsion device located on the central bottom of the main body 6, left and right weeding units 8, 8 located on both the left and right sides of the rear of the main body 6, a battery 9 located on the front of the main body 6, a GPS 3 and a wireless communication device 5 located on the top of the main body 6, a control unit 4 located inside the main body 6, and pilot lights 10 located on both the left and right sides of the front of the main body 6.

[0023] The main body 6 is a sealed hollow body made of resin that floats on water, and is equipped with a control unit 4 and a main motor 12 that drives and rotates the screw 7 via a main reduction gear case 11 in the center of the interior, and left and right sub-motors 14, 14 that drive left and right weeding units 8, 8 via left and right sub-reduction gear cases 13, 13 in the rear left and right parts of the interior.

[0024] The screw 7 is rotatably supported in a hollow section provided in the central bottom surface of the main body 6, and its lower end is at the same height (flush) as the bottom surface of the main body 6. The screw 7 is driven and rotated by the main motor 12 via the main reduction gear case 11, moving the machine forward.

[0025] The left and right weeding units 8, 8 have paddle tires 16, 16 rotatably attached to the tips of left and right transmission cases 15, 15 provided on both the left and right sides of the rear of the main body 6, for plowing and stirring the field.

[0026] The paddle tires 16, 16 of the left and right weeding units 8, 8 are driven and rotated by left and right sub-motors 14, 14 via left and right sub-reduction gear cases 13, 13 and left and right transmission mechanisms 17, 17, to plow, stir and weed the field.

[0027] The battery 9 is provided in a battery receiving portion provided in the front of the main body 6 so as to be freely insertable and removable.

[0028] The pilot lamp 10 is made up of four colored LEDs mounted on both the left and right sides of the front of the main body 6, and changes from blue to green, yellow, and red as the battery 9 decreases from a fully charged state, allowing the remaining battery charge to be seen even from a distance.

[0029] In summary, the control unit 4, main reduction gear case 11, main motor 12, left and right sub-reduction gear cases 13,13 and left and right sub-motors 14,14 are provided inside the sealed, water-floating main body 6, a screw 7 driven by the main motor 12 is provided on the bottom of the main body 6, and left and right weeding units 8,8 driven by the left and right sub-motors 14,14 are provided on the left and right outside of the main body 6.This prevents the control unit 4, main reduction gear case 11, main motor 12, left and right sub-reduction gear cases 13,13 and left and right sub-motors 14,14 from getting wet with muddy water scooped up by the screw 7 and the left and right weeding units 8,8, and allows them to operate properly, the machine is propelled by the screw 7 and weeds are removed by the left and right weeding units 8,8, allowing proper weeding work to be performed.

[0030] <Weeding work> The worker places the weeder 2 at the starting point A of the weeding work in the paddy field F from the road, and operates the mobile terminal 1 to transmit map data, which includes the route R along which the weeder 2 will travel, to the weeder 2 in a map database loaded with planting data.

[0031] The weeder 2 stores the map data to which the route R transmitted from the portable terminal 1 has been added in the control unit 4.

[0032] Then, when the worker operates the mobile terminal 1 to start the weeder 2, the weeder receives signals from a positioning satellite using GPS 3 in the field, calculates position information using the satellite positioning system, and travels autonomously, traveling back and forth between the weeding start point A and the turnaround point B along the route R to perform the weeding work.

[0033] At the same time, the worker transmits the time for the weeding work to the weeder 2 using the mobile terminal 1, and the weeder 2 travels back and forth along the route R within the received specified time to perform the weeding work, and when it determines that it will not be possible to return if it departs from the weeding work starting point A due to the remaining time being short, it stops at the weeding work starting point A.

[0034] When the weeder 2 travels autonomously along the route R to perform weeding work, the main body 6 is made of a sealed resin structure and floats on the water in the paddy field F, and the screw 7 is driven and rotated by the main motor 12 via the main reduction gear case 11 to move the machine forward.

[0035] The paddle tires 16, 16 of the left and right weeding units 8, 8 are driven and rotated by the left and right sub-motors 14, 14 via the left and right sub-reduction gear cases 13, 13 and the left and right transmission mechanisms 17, 17 to plow, stir and weed the field.

[0036] The main body 6 moves between the rows of planted seedlings, and the paddle tires 16, 16 of the left and right weeding units 8, 8 move between the rows of seedlings on either side of the row of seedlings that the main body 6 is moving through.

[0037] The worker monitors the weeder 2 performing the weeding work, and when the pilot lamp 10 turns yellow and the remaining battery power is low, he operates the portable terminal 1 to stop the weeder 2 at the roadside, removes the battery 9 and replaces it with a fully charged battery 9, and operates the portable terminal 1 to restart the weeder 2 and continue the weeding work.

[0038] When the pilot lamp 10 turns yellow and the remaining battery charge is low, the weeder 2 may be automatically stopped when the weeding work returns to the starting point A.

[0039] <Another embodiment>

[0040] (1) Figures 5 to 8 show an embodiment of a growth promotion and pest control system that stimulates rice plants grown without pesticides in a paddy field F to promote their growth and also drops pests on the seedlings into water to control them.

[0041] That is, two autonomous work vehicles 20, 20 travel along opposing ridges in a rice paddy field F, and a fishing line 21 is stretched between the two work vehicles 20, 20. As shown in Figure 7, the fishing line 21 acts to squeeze the seedlings in the field F, stimulating the seedlings and promoting their growth, and causing pests on the rice plants to fall into the water for pest control.

[0042] The autonomous work vehicle 20 is composed of left and right driven front wheels 22, 22, each driven and rotated by left and right electric motors, a spherical free-wheeling rear wheel 23, a reel device 24 that pays out and rewinds the fishing line 21, a GPS 25 and a wireless communication device 26 mounted on the top of the vehicle, and a battery and control unit mounted inside the vehicle.

[0043] The left and right drive front wheels 22, 22 are driven and rotated by left and right electric motors, respectively, and when the left and right drive front wheels 22, 22 rotate forward in synchronization, the machine moves forward, and when they rotate backward in synchronization, the machine moves backward, and by changing the drive rotation speed of the left and right drive front wheels 22, 22, the machine can be steered left and right.

[0044] The reel device 24 is composed of a rotary reel 24a around which the line 21 is wound, an electric motor that drives and rotates the rotary reel 24a in the direction of letting out and rewinding the line 21, and a line support arm 27 whose base is pivoted to the rotation center of the rotary reel 24a and whose tip, extending outward from the body of the machine, can be changed in vertical position by the electric motor.

[0045] The reel device 24 is pivoted at its center on a vertical shaft to the machine body and can rotate 180 degrees by an electric motor, so that the fishing line 21 can be reeled out to the left, right and rear of the machine body.

[0046] Next, growth promotion and pest control work in the field F by the two autonomously traveling work vehicles 20, 20 will be described with reference to FIG.

[0047] The worker places two autonomously traveling work vehicles 20, 20 from the road at a starting point S of a rice paddy field F, and operates a mobile terminal 1 to send map data to the two autonomously traveling work vehicles 20, 20, which includes a map database loaded with planting data and routes R1 and R2 that the two autonomously traveling work vehicles 20, 20 will each travel.

[0048] Then, by operating the mobile terminal 1, the line support arm 27 is rotated up and down using an electric motor to adjust the height of the tip of the line support arm 27 to a height appropriate for the line 21 to squeeze the seedlings in accordance with the height of the seedlings in the field F.

[0049] Then, when the worker operates the mobile terminal 1 to start the work vehicles 20, 20, one work vehicle 20 remains parked at the starting point S, while the other vehicle receives signals from a positioning satellite using GPS 3 in the field and moves along route R2 toward corner C1 of the opposite ridge while calculating its position information using the satellite positioning system.

[0050] At this time, the work vehicle 20 parked at the start point S rotates the rotary reel 24a of the reel device 24 using the electric motor to pay out the line 21 so that the line 21 does not come into contact with the field F.

[0051] The reel device 24 of one work vehicle 20 is positioned on the left side in the direction of travel (into the field F) by an electric motor, and the reel device 24 of the other work vehicle 20 is positioned at the rear in the direction of travel by an electric motor.

[0052] Then, when the other work vehicle 20 reaches corner C1, the two work vehicles 20, 20 simultaneously proceed along the ridge (one proceeds toward end point E and the other proceeds toward corner C2), and the fishing line 21 stretched between the two work vehicles 20, 20 comes into contact with the seedlings in field F, stimulating them to promote their growth and dropping pests on the seedlings into the water to control them (see Figure 7).

[0053] Then, one of the work vehicles 20 reaches the end point E and stops, and the other work vehicle 20 reaches the corner C2 and proceeds toward the end point E.

[0054] At this time, the work vehicle 20 parked at the end point E rotates the rotary reel 24a of the reel device 24 using the electric motor to rewind the line 21 so that the line 21 does not come into contact with the field F.

[0055] Then, the other work vehicle 20 arrives at the end point E and stops, completing the work.

[0056] In the above, an example has been shown in which the fishing line 21 is let out and rewound by the rotation of the rotary reel 24a of the reel device 24 of one work vehicle 20, but the fishing line 21 may also be let out and rewound jointly by the rotation of the rotary reels 24a of the reel devices 24 of two work vehicles 20.

[0057] (2) Establish a center that provides various agricultural machinery, such as tractors and farm equipment, rice transplanters, combine harvesters, vegetable transplanters, vegetable harvesters, weeders, and pest control machines, as well as consumable materials such as seedlings for rice transplanters and vegetable harvesters, and provide various farm management services through subscription services, aiming to improve the efficiency of farming expenses and reduce work labor.

[0058] All agricultural machinery will be electric, with batteries of the same specifications being mutually interchangeable (larger machinery will be equipped with multiple batteries). To reduce costs, the center will also install a solar power generation system on the rooftop to charge, maintain, and manage the numerous batteries.

[0059] The center also has an operations room where various agricultural machinery can be remotely controlled or operated autonomously.

[0060] The subscription service may be any service, such as a monthly system where various agricultural machines can be used by paying a fixed monthly fee, a single model rental system where each machine is rented, or a number-of-use rental system where machines can be used a specified number of times. [Explanation of symbols]

[0061] 4. Control section 6 Main unit 7 Propulsion device (screw) 8 Weeding work department 9 Battery 10 Pilot lamp 11 Main reduction gear case 12 Motor (main motor) 13 Sub-reduction gear case 14 Motor (sub-motor)

Claims

1. A weeder that is a boat-shaped weeder that floats on water, characterized in that a control unit (4) and a motor (12, 14) are provided within a case-like main body (6), a screw (7) that is rotatably supported in a hollow section provided in the center of the bottom of the main body (6) and is driven by the motor (12), and weeding units (8) are provided on both the left and right outside of the main body (6) at the tips of left and right transmission cases (15, 15) that are each rotatably driven by a motor (14) so ​​as to plow and stir the field.

2. 2. The weeder according to claim 1, wherein the propulsion device (7) is driven by a main motor (12) via a main reduction gear case (11), and the weeding unit (8) is driven by a sub motor (14) via a sub reduction gear case (13).

3. 3. A weeder according to claim 1 or 2, characterized in that the battery (9) is detachably mounted in a battery receiving portion provided on the main body (6).

4. 4. The weeder according to claim 3, wherein the main body (6) is provided with a pilot lamp (10) for indicating the remaining capacity of the battery (9).

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